Control systems for ward-leonard group



March 13, 1956 P. LETRILLIART E'I'AL 2,738,454

CONTROL SYSTEMS FOR WARD-LEONARD GROUP Original Filed Oct. 15. 1948 1. Fly! v 1 fNVf/VTORS P/erre Lefrv'fl/ar/ Jacques Bfchef ywym United States Patent CONTROL SYSTEMS FOR WARD-LEONARD GROUP Pierre Letrilliart and Jacques Bichet, Jeumont, France,

assignors to Forges et Ateliers de Constructions Electriques de Jeumont, Paris, France, a corporation of France Original application October 15, 1948, Serial No. 54,752. Divided and this application February 24, 1950, Serial No. 145,962

Claims priority, application France October 20, 1947 l 4 Claims. (Cl. 318-146) The present invention refers to control systems for Ward-Leonard groups in which an auxiliary rotary machine arranged as a frequency changer is mechanically coupled to or keyed upon the shaft of the main motor for regulation purposes.

An object of the invention is to extend within wide limits the range of speed regulation of the main motor, comprising the lowest values and even the complete stoppage (zero speed). Another object of the invention is to produce an accurate adjustment of the number of revolutions performed by the main motor, and to produce adjustable angular movements or part-revolution of this motor. The invention has likewise for an object the provision of means for increasing the stability of the regulations and adjustments obtained.

The known control systems of this kind are able to regulate and to stabilize the speed of the main Ward- Leonard motor, but only within a limited range and not down to complete stoppage. These limitations are mainly due to the serious drop of voltage across the commutator brushes of the auxiliary machine at very low values of its speed and frequency. As a result, this output voltage, which is used for energizing a field winding of the Ward- Leonard generator, is subject to variations which are not proportional to the variations of the frequency (or speed) and therefore the regulation is not accurate.

According to the present invention, such limitations are avoided by the use of two rotary frequency changers instead of a single one, these two machines being connected in cascade. The first frequency changer, energized from a power system having a constant reference frequency, is driven by the main motor to be regulated; the second is driven by a pilot-motor at a speed which is a definite function of the speed of the main motor, whereby the output voltage appearing across the commutator brushes of the second frequency changer has a zero frequency, representing direct current. This direct-current output voltage being used for energizing a field winding of the Ward- Leonard generator, the speed of the main motor is a definite function of the speed of the second frequency changer driven by the pilot motor.

In particular, if the second frequency changer is driven at the speed of synchronism in relation to said reference frequency, the speed of the main motor is equal to zero and automatically maintained at this value, as it will be explained later.

On the other hand, the value of the zero-frequency or direct-current voltage, which appears across the commutator brushes of the second frequency changer, can be controlled by various parameters, whereby different kinds of regulations, controls, compoundings of the main motor, as well as measurements can be effected.

This application is a division of our application Serial No. 54,752, filed October 15, 1948, now abandoned.

The objects and advantages of the present invention will be explained hereinafter with reference to the accompauying drawings in which:

Fig. l is a control diagram of a Ward-Leonard group.

Figs. 2 and 3 represent alternative connections of a pilot motor which can be synchronized without direct-current feed.

Fig. 4 relates to another form of the pilot motor.

Figs. 5 and 6 represent means for limiting the number of revolutions performed by the pilot motor.

One embodiment of the invention can be arranged for example in accordance with Fig. l, which shows a directcurrent group comprising a generator G and a main motor M of which the speed is to be regulated, for example from zero to 750 revolutions per minute, by variation of the field and voltage of the generator G according to the wellknown Ward-Leonard system.

To the end of the motor shaft there is coupled the first auxiliary machine having the form of a frequency changer A1, which comprises for example 2p=4 poles, and of which the rings a are fed with three-phase current by the source S having a constant reference frequency f, equal for example to 50 cycles per second. The frequency f should preferably be substantially greater than the frequency f1 appearing across the brushes a, which would correspond to synchronism of the machine A1 at its maximum speed, that is to say at 750 revolutions per minute. The machine A1 being of four-pole type, this frequency f1 will be 25 cycles per second at 750 revolutions per minute, so that the preferred relation will in fact be provided.

When the main motor M is at rest, the frequency f1 will be 50 cycles per second.

This variable output frequency f is transmitted to the slip rings 0' of a second auxiliary machine C which is likewise a frequency changer or rotary converter having a suitable number of poles, equal to 2p, and which is driven by an adjustable speed motor N, herein termed a pilot motor. For a certain speed 112 of the pilot motor, the frequency collected by the brushes c (which engage on the commutator of the machine C) becomes zero, which means that these brushes collect direct current.

It can be shown that this speed n2 is given by the formula:

p nz-l-p n1=60 f where:

p is the number of pairs of poles on the machine C;

p is the number of pairs of poles on the machine A1;

n1 is the number of revolutions per minute of the main motor M and of the auxiliary machine A1;

n2 is the requisite speed in revolutions per minute of the pilot motor N; and

f is the reference frequency of the source S.

Assuming that p=p=2, and f=50 cycles per second, for example, there is obtained for n1=0 (motor M at rest), n2=l500 revolutions per minute;

for n1=375 revolutions per minute (motor M at half speed), n2=1125 revolutions per minute;

for n1=750 revolutions per minute (motor M at full speed), nz=750 revolutions per minute.

It can be seen that in this particular case, n1+n2=n3, where n3 is the speed of synchronism of the frequency changers for the reference and supply frequency f.

The direct voltage which appears between the brushes 0 when the speeds m and m of the machines M and N are in accordance with the above formula, can be used for exciting an auxiliary winding E3 of the generator G, which co-operates in any suitable manner with the regular field windings E1 and E2. If the speed of the motor M tends to vary from that for which the frequency across the brushes 0 is zero, the axis of the magnetic field of the auxiliary machine C is no longer stationary. This axis 3 c llects'an:angular;displacementin one direction or in the other, thedirect-current voltage at the brushes cis theremodified, and the current I received by the motor M from the generator G is suitably adjusted so as to reestablishthe.correctspeed. v

'When. the fieldwinding E3 is energized by direct current, there is obtained, according to .theadjustmentof the field winding E2, a resultant field such that the speed of the main motor M is maintainedconstant. Thevalue of this constant speed depends on the adjustment of the field winding E2 and of the speed 112 of the pilot motor N, and for a certain adjustment thereof, therewillbe obtained a constantspeed equal to zero, the main-motor beingthen at a standstill. The resultant fieldwhich corresponds to: this particular case is not necessarily zero, ,but,it;dependsevidently upon the torque which the motor M has to develop When;at .rest.

If now, the constant speedflofthe, motor M (for-example, zerospeed) .tends to departfromthe desired value, there 5 is :produced the ;automatic regulation described above.

The method of regulation which has just been described maintains itsfullefiicacy at the lowest speeds and even'at complete stoppage of the motor M. In fact, it has been seen-above thatif nz=l500 revolutions per minute, the speed In of the main motor M is zero, or in other words it sufiices to cause the pilot motor N town at the synchronous speed of the auxiliary-machine C, that is to say, in the example considered, at 1500 revolutions per minute, forthe motor M to come to rest; there appears at the terminals of the field winding E3 a suitable direct-current voltage which ensures the main motor M remaining stationary.

For the purpose of giving a desired speed to the second frequency changer C, there can be utilized as shown a pilot motor N of the adjustable: slip-ring induction type with a slip rheostat R, fed at the frequency f and arranged so that its synchronous speed shall be the sameasthat of the machine C for this frequency; it sufiices then to inject direct current into this motor inthe Well-known manner in order to synchronize it, such a direct-currentsynchronizing circuit being represented diagrammatically at P1 in Fig. 1.

' Instead of having the machines A and M at rest and the machine N rotating at the speed of synchronism, the speed of the machine N can be adjusted for obtaining any desired speed of the main motor M. This adjustment is effected-according to the formula given above, i..e.1in such a proportionthat a direct-current voltage-still, appears across .the commutator brushes ofzthe second frequency changer C. In this way, anydesired speedofthemain motor M can be obtained and stabilized, the, pilot-motor N not being synchronized by direct-current, but; controlled by means of a slip. rheostat kqsuch asrshown in Fig. 1,

the change over being efiected by a conventional two-way switch.

If no suitable direct-current supply is available, the pilot motorpN may take the form-of the well-knownpolyphase commutator motor with a double set of brushes and fshunt characteristics. This machine may be for instance of the type shown in'Fig. 14 of Harold Penders Electrical EngineersHand-Book', 4th edition, page'9-104. By merely crossingthe connections of two phase windings between the rotor and the stator of such a machine synchronous operation is obtained.

"Figs. 2 and 3 representdiagrammaticallythismethod of synchronization. In Fig. 2'thereis shownthe diagram ofconnections of a known motor of this, type. ,S isthe samethree-phase supply source as inFig. 1, m, n, o, and 0 11.11, 0', the two setsof brushes, and s1, sz, se the stator n in when the speed of such amotor is approximatelyequal to-that of synchronismwith respect'tothefrequency f Qfgtlte source S,,thef field producedby therotor tends to become. fixed in space; in, order to 'itdefinitelythe; connections of the pilot motor N are rearranged as shown in Fig. 3, by crossing the leads of two stator phases, for example st and s3, and connecting together the other terminals of the three phases, as shown, which has the effect of circulating direct current in the stator; such a pilot motor N then operates as asynchronous motorat the frequency f and the auxiliary machine C of Fig. 1 is driven at its speed of synchronism corresponding to the frequency f obtained from the machine A2.

It is also possible as illustrated in Fig. 4, to utilize as pilot motor a machine D1 of the rotary converter type having the same number of poles as the auxiliary motor N of, Fig. 1. This machine starts and operates normallyas a direct current motor, being energized by a direct current source B. The speed of synchronisrn is imposed by applying the reference frequency f to its rings, as-showniirFig. 4. Any other device for ensuring snychronism of the machine C may be used.

In order to obtain a main motor speed other-thanzero, the speed of the pilot motorshown in Fig. 2 canhere gulated to values different from the-speedof synchronism by merely shifting its brushes. In the case-of the pilot motor shown in Fig. 4, the polyphase power supply will be interrupted and the machine will be regulated like -a directcurrent motor.

It is to be noted that the above means for controlling the stoppage of the main motor M by the synchronization of the machine C or'for obtaining various-speeds of the main motor M, by adjusting thespeed of-thc pilot motor, .are independent of the frequency of-the source S and of its possible variations, because the pilot motor N is energized by the same sources as the rings a of the machine A1.

The improved control system as described -may be utilized for the regulation of mine-hoists, rolling--mills, elevator motors, printing and paper-making machines, and so on. In particular, whenthe motor drives mine-hosts, elevators and the like, in whichwthe travel must be regulated very accurately, the system shown in Fig. 1 can be adapted so-that. the-motoraM effects a predetermined number of revolutions .beforestopping. In this case, the pilot motor-N must elfect apre-determined number of revolutions in relation toYitsrotating field produced by thesupply source :S, .because it will be understood that the speednr ofkthe .main motor M is proportional to the.slip of the pilotamotor N, according to the relation where ns'isthe speed of synchronism of :the motor N, and gn the slip of that motor.

-;Such a result can be obtained bymcans-of control and revolution-counting apparatus as shown .inu-Fi gs. --5 and 6, sensitive to the slip of thepilot-motorz-N' and arranged to close its synchronization circuitsPsafter a desired number of cycles of its-rotor current. According to Fig. 5, an auxiliary-synchronous motorgrE' is energized by the rotor of the pilot motoriN at the slip frequency gn. The motor E comprisesasuitable switch (not shown, but in .the form foraexampletof any conventional ratchet-type counter operatingarontact device), which is adapted to close the-synchronizing direct-current circuit P (Fig. l) 1after,.a,-..desired number of revolutions of E; this, number corresponds obviously to the cycles of the rotoracurrent of :the.pilot motor N.

There may againbe utilized, as: shown :inzFig: 6, an augiliary synchronous-motor F ofwhich; ther1tator will be fed with the frequency frandathe ,rotor,connected-to the output circuit of thefirstfrequency changer 1, wit t q1 n y f' or vi v s h mo m' th n operating to close a synchronizing device or -circ,uit

of the pilot motor n at the end of a certain number of revolutions.

The invention also allows of obtaining accurate angular movements of the main motor M, which are equal or proportional to angular movements of a control element such as a handle or any other device or machine. It will be assumed that for a given position of the handle, the motor M is stopped and maintained in a certain position as described above. A definite angular movement of the control handle will modify the value of the field current delivered by the machine C to the winding E3 of the generator G (Fig. 1); the voltage energizing the main motor M will vary accordingly and the motor will start to revolve. This movement is effected in a direction such that it reduces and compensates the angular displacement which the operator has produced between the field and the brushes of the machine C by his adjustment of the control handle. The movement of the main motor will continue therefore until the moment when this angular displacement becomes equal to zero; at that moment, the former balance will be re-established, that is to say, the motor M will come to rest and remain stationary, as before, but in a fresh position which corresponds to the position of the control handle moved by the operator.

In certain cases, in order to ensure proper stability of operation, a certain degree of statism or insensitiveness will have to be introduced into the system. This effect can be obtained by conventional damping means upon the machine C for the purpose of eliminating the oscillations of the system, or by suitably modifying the speed of the pilot motor N according to the loading of the main motor M.

Whatever be the applications of the invention, it must be understood that the regulations or measurements which it allows of providing are effected very rapidly and with simple, effective and robust means.

What we claim is:

1. In a system for controlling the speed of a main motor forming part of a motor-generator set of the Ward-Leonard type, the combination of two rotary frequency changers connected in cascade, the first of said frequency changers being driven by the motor of said set, and the slip-rings of said first frequency changer being connected to a polyphase network having a refereuce frequency, while the second of said frequency changers is connected to be energized by the output voltage at the commutator brushes of said first frequency changer and arranged to be driven separately at a speed of synchronism in relation to said reference frequency, the commutator brushes of said second frequency changer being connected across a field winding upon the generator of said set.

2. A system for controlling the speed of a main motor forming part of a motor-generator set of the Ward-Leonard type by means of rotary frequency changers, comprising a first frequency changer arranged to be driven by the motor of said set, the slip-rings of said first frequency changer being connected to a polyphase network having a reference frequency, a sec ond frequency changer having its slip-rings connected in cascade to the commutator brushes of said first frequency changer, a field winding upon the generator of said set, said winding being connected across the commutator brushes of said second frequency changer, an independent adjustable field winding upon said generator, and an adjustable speed pilot motor adapted to drive said second frequency changer at a selected constant speed, whereby the speed of said main motor will be maintained at a constant value.

3. A system for controlling the main motor of a motor-generator set of the Ward-Leonard type by means of two rotary frequency changers comprising a first frequency changer arranged to be driven by the motor of said set, the slip-rings of said first frequency changer being connected to a polyphase power source, a second frequency changer having its slip-rings connected in cascade to the commutator brushes of said first frequency changer, a differential field winding upon the generator of said set, said winding being connected across the commutator brushes of said second frequency changer, and a pilot motor adapted to drive said second frequency changer at a desired constant speed.

4. In a Ward-Leonard set having a main motor and a main generator controlled by a system according to claim 2, means for producing definite angular movements of said main motor from the stopped condition, comprising an independent field winding upon said main generator, and means for adjusting said independent field winding.

References Cited in the file of this patent UNITED STATES PATENTS 1,060,208 Osborne Apr. 29, 1913 1,423,518 Espenschield July 25, 1922 1,578,971 Fleischmann Mar. 30. 1926 1,894,810 Winter Jan. 17, 1933 FOREIGN PATENTS 322,011 Great Britain Nov. 28, 1929 395,011 Great Britain July 3, 1933 

